How to parent the end of a bone to the middle of another?
You can add a &quot;stretch to&quot; constraint to the bone:

Bone.002 has a constraint on the armature that makes it stretch to Bone.001.
The head/tail ratio is 0.5, so it is at the middle.
Original length is the length of Bone.002 when in rest position (edit mode length).
If you want Bone.002 point to without stretching, use a track to constraint instead (same principle):